This repository contains code for a contact force simulator for soft objects, using a hydroelastic pressure field intersection model.
The simulator is implemented using the Julia programming language.
The following requirements must be present in your environment.
- Julia 1.7+
- Just: a command runner
Then, run the following command to instantiate the Julia package environment.
just install
To run the interactive Julia REPL or open a Pluto notebook server, use the following commands:
just repl # open Julia REPL (can add packages here)
just notebook # start server (try opening examples/cube.jl)
To unit tests specified in the test/
folder, use the command:
just test
We use JuliaFormatter.jl to automatically format Julia code. To format all of the files in the project, you can run the command:
just format
Note that there is a CI job that automatically checks formatting and test cases before pull requests can be merged.
Made by Vincent Huang, Franklyn Wang, and Eric Zhang. Licensed under the MIT license.